KR101361491B1 - Robot inspired from centipede - Google Patents

Abstract

The present invention relates to a robot inspired from a centipede. According to one embodiment of the present invention, the robot inspired from a centipede includes a head module (100) connected to a first connection shaft (130); a body module (200) connected to a second connection shaft (200); and a body module (200) connected to a second shaft (230).

Description

Robot inspired from centipede {Robot inspired from centipede}

The present invention relates to a robot that mimics a centipede capable of fast running in a rough terrain.

Generally, robots that run on rough terrain are used in war situations or life saving situations. In particular, many robots have been manufactured in which several modules are connected to improve the coping performance in rough terrain.

Background Art [0002] A conventional rough running robot is disclosed in Korean Patent Publication No. 10-2011-0107717, Korean Patent Publication No. 10-2012-0053236.

However, since the conventional horseshoe traveling robot system is not easy to transmit power according to the change of the position between the modules, several actuators are necessarily installed, which complicates the system, which results in a significant decrease in efficiency of the system.

In addition, robots used in military operations and disasters must be small, fast and able to overcome rough terrain. As the size of the conventional robot becomes smaller, it does not have a fast driving speed due to the limitation of the power source, and the height of the rough terrain that can be overcome is limited according to the size of the wheel or track of the robot.

In order to solve these problems, there has been a demand for the development of a mechanism capable of moving small but fast and overcoming a high obstacle compared to the size of a robot.

Korean Patent Laid-Open No. 10-2011-0107717 (Oct. 4, 2011, a drive arm equipped with a rake wheel and a mobile robot provided with the drive arm) Korean Patent Laid-Open No. 10-2012-0053236 (2012.22.22, a transformer wheel, a wheel assembly, and a mobile robot equipped with the same)

The present invention has been made in order to solve the above-mentioned problems, when the obstacle is over, the front of the unit body can be lifted over the obstacle higher than the robot, the axis connecting each unit body is made of a flexible shaft due to the rough obstacle Power can be transmitted even when several legs are in a non-moving state, and it is possible to quickly overcome the rough terrain by using the means of transportation focused on the centipede, and the length of the camera can be freely changed by adjusting the number of modules. An object of the present invention is to provide a robot that mimics a centipede capable of providing information by transmitting an image to a user.

The present invention, the first frame (111, 151), the first shaft (112, 152) rotatably provided in the first frame (111, 151) and rotatably provided on both sides of the first frame (111, 151) It consists of a plurality of first unit body (110,150) including a first moving means (113,153) for receiving and rotating the rotational force of the shaft (112,152), the first shaft (112,152) of each of the first unit body (110,150) ) Is a head module (head module, 100) connected to the first connecting shaft (130); Second frames 211 and 251, second shafts 212 and 252 rotatably provided in the second frames 211 and 251, and second shafts 212 and 252 rotatably provided on both sides of the second frames 211 and 251. It is composed of a plurality of second unit body (210,250) including a second moving means (213,253) for receiving the rotational force of the rotation, the second shaft (212, 252) of each of the second unit body (210,250) A body module 200 connected to the two connecting shafts 230; A third frame 311, a third shaft 312 rotatably provided in the third frame 311, and a third shaft 312 rotatably provided at both sides of the third frame 311. Is composed of at least one or more third unit body 310 including a third moving means 313 is rotated by receiving a rotational force of the third shaft of each of the third unit body (310) A tail module 300 connected to interlock with each other, wherein the first shaft 152 of the head module 100 and the second shaft 212 of the body module 200 are head-mounted. Is connected to the body connecting shaft 400, the second shaft 252 of the body module 200 and the third shaft 312 of the tail module 300 to the body-tail connecting shaft 500 It is characterized by being connected.

In the present invention, the first connecting shaft 130, the second connecting shaft 230, the head-body connecting shaft 400 and the body-tail connecting shaft 500 is capable of bending and twisting It is characterized in that the flexible shaft (flexible shaft) that is an elastic material.

In the present invention, the rotational force of the first shaft (112, 152) is transmitted to the first moving means (113, 153), the rotational force of the second shaft (212, 252) to the second moving means (213, 253), and Each of the rotational force transmission means for transmitting the rotational force of the third shaft 312 to the third movement means 313 is characterized in that the cross-axis gear.

In the present invention, the first unit body (110, 150), the first spur gears (116, 156) provided on the first shaft (112, 152), and is disposed on the first shaft (112, 152), the first flat The first frame (1, 1, 155, 155) is further provided with a second spur gears (117, 157) engaged with the gears (116, 156), the first frame (1) of the first unit body 110 is disposed 111 and the first frame 151 of the first unit body 150 disposed at the rear of the forefront are hingedly connected to each other so that the first unit bodies 110 and 150 disposed at the foremost are lifted upward. The head-up being raised is possible.

In the present invention, the head module 100 is provided with a video input device and a video transmitting device for transmitting the video data input by the video input device to the outside.

In the present invention, the tail module 300, the driving force generating means 370 for generating a driving force to the third shaft 312, and to enable to control the driving of the driving force generating means 370 remotely A remote control device and a battery 390 for providing electrical energy to the driving force generating means 370 are installed.

In the present invention, the first shaft (112, 152) is composed of two left, right, the rotational force is transmitted to the first moving means (113, 153) on both sides, respectively, the second shaft (212, 252) to the left, right two The rotational force is transmitted to the second movement means 213 and 253 on both sides, respectively, and the third shaft 312 is composed of two left and right movements to the third movement means 313 on both sides. Accordingly, the driving force generating means 370 is composed of two, characterized in that for generating a driving force to the third shaft 312 of the left and right, respectively.

In the present invention, the tail module 300, the third-first frame 351 and the third-first moving means (Rolling) are rotatably rolled on both sides of the third-1 frame 351 ( Further comprising at least one 3-1 unit body 350, including 353, the 3-1 unit body 350 is disposed behind the third unit body 310, the third The driving force generating means 370 is disposed between the -1 unit body 350 and the third unit body 310.

In the present invention, the third-first moving means 353 includes a first boss 353a, a plurality of wheel parts 353b radially disposed around the first boss 353a, and the wheel part ( 353b), each extending in a circumferential direction in one direction, characterized in that the wheel-leg (wheel-leg) consisting of the leg portion (353c) spaced from each other.

In the present invention, the first moving means (113, 153), the second moving means (213, 253) and the third moving means (310), the second boss 113a and the second boss 113a as the center. And a plurality of main spokes 113b radially disposed and sub-spokes 113c extending in a direction perpendicular to the second boss 113a from a point on the main spokes 113b. The main spoke 113b and the sub-spoke 113c may form a 'y' shape.

In the present invention, the main spoke (113b) is provided to be inclined so that the interval increases as the distance from the second boss (113a), the secondary spoke (113c) is perpendicular to the second boss (113a). Characterized in extending in the direction.

In the present invention, in the first moving means (113, 153), the second moving means (213, 253) and the third moving means (313), the other moving means adjacent to any one of the moving means, the unit body ( The distance from the point at which the main spokes 113b are mounted from 110, 150, 210, 250, and 310 may be configured to be different from each other.

According to the present invention, the lengths of the bosses 113a, 213a, and 313a on which the main spokes 113b of the moving means 113, 213, and 313 arranged in the odd number are arranged are equal to each other, and the moving means are arranged even in the even number ( The lengths of the bosses 153a and 253a on which the main spokes 113b of the 153 and 253 are mounted are equal to each other, and the lengths of the bosses 153a and 253a of the moving means 153 and 253 that are arranged evenly are odd-numbered. It is formed to be longer than the length of the boss (113a, 213a, 313a) of the moving means (113, 213, 313), characterized in that the point where the main spoke (113b) is mounted from the unit body (110, 150, 210, 250, 310) are alternately arranged. .

According to the robot that mimics the centipede of the present invention, the following effects are obtained.

First, since the first unit body disposed at the forefront is capable of a head-up in which the first unit body is lifted upward, a higher obstacle than the robot may be overcome.

In addition, according to the shape of the ground, the first frame of the foremost in the direction perpendicular to the running direction of the robot can be rotated from the rear first frame, wherein the first connecting shaft and the 1-1 connecting shaft is made of a flexible shaft The rotating force can be transmitted while being bent or twisted, so that obstacles can be overcome manually without the need for additional driving means.

Furthermore, since it can be as close as possible to the ground as compared to the system having a rigid structure of the connecting shaft, it is possible to efficiently travel by utilizing the ground reaction force to the maximum.

Second, the image photographed by the image input apparatus is transmitted to the user by the image transmitting apparatus, so that the situation around the system can be grasped remotely.

Third, as the connecting shaft connecting each module is made of a flexible shaft made of an elastic material, it is possible to transmit power even in a state in which some means of movement cannot move due to rough terrain obstacles.

Fourth, since the number can be increased or decreased by the required length by adjusting the number of the second unit body of the body module, it is possible to adjust the overall length of the body module according to the environment.

Fifth, the points where the main spokes of each vehicle are mounted are alternately arranged, and the main spokes are lengthened while not being in contact with neighboring main spokes, so that the length of the main spokes is increased so that the obstacles can be easily overcome. Can be.

Sixth, by focusing on adjusting the leg joints according to the width of the terrain where the centipede crawls to adjust the width of the legs on both sides, the main spokes and secondary spokes can be used to overcome wide and narrow terrains. Can be overcome quickly.

Seventh, the configuration as described above can be remotely controlled in the military operation and disaster site to smoothly overcome the obstacles of the hum, and can run at high speed is effective in reconnaissance and grasp the situation.

In addition, it is possible to reduce the casualties caused by dangerous environment by exploring the enemy's status and friendly route in advance in the military operation situation, and to perform the organic operation and active response to the situation change.

Furthermore, it is possible to obtain necessary site information by penetrating into difficult-to-access or narrow spaces such as the inside of a debris building collapse or a nuclear power plant in case of a disaster or disaster, and respond appropriately based on quick information. .

1 is a view showing a robot that mimics a centipede according to a preferred embodiment of the present invention.
2 to 4 show the head module of FIG.
5 shows a flexible shaft.
6 and 7 show the body module of FIG.
8 and 9 illustrate the tail module of FIG. 1.
10 is a view showing the first moving means, the second moving means and the third moving means of FIG.
11 and 12 are views of the third-first moving means of FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

As shown in FIG. 1, the robot that mimics a centipede according to a preferred embodiment of the present invention includes a head module 100, a body module 200, and a tail module 300.

First, as shown in FIGS. 2 and 3, the head module 100 includes a plurality of first unit bodies 110 and 150. In this embodiment, the head module 100 includes two first unit bodies 110 and 150.

Each of the first unit bodies 110 and 150 preferably includes first frames 111 and 151, first shafts 112 and 152, first moving means 113 and 153, and first rotational power transmitting means 114 and 154.

The first frames 111 and 151 form a skeleton of the first unit bodies 110 and 150, and are in the form of hexagons that are substantially horizontally long in this embodiment.

The first shafts 112 and 152 are rotatably provided in the first frames 111 and 151 and are composed of two left and right sides arranged in parallel.

The first moving means 113 and 153 are rotatably provided at both sides of the first frame 111 and 151. Detailed structures of the first moving means 113 and 153 will be described later.

The first rotational power transmission means 114 and 154 transmits the rotational force of the first shafts 112 and 152 to the first movement means 113 and 153, and the first rotational power transmission means 114 and 154 on the left side is the rotational force of the first shafts 112 and 152 on the left side. To the first moving means 113 and 153 on the left side, and the first power transmission means 114 and 154 on the right side transmit the rotational force of the first shafts 112 and 152 on the right side to the first moving means 113 and 153 on the right side.

In the present embodiment, it is preferable that the first rotational power transmitting means 114, 154 be a cross shaft gear as shown in FIG. That is, the 1-1 bevel gears 114a and 154a are installed in the first shafts 112 and 152, and the 1-1 bevel gears 114a and 1b in the rotation shafts 113-1 and 153-1 of the first moving means 113 and 153. 1-2 bevel gears 114b and 154b which rotate in engagement with 154a are installed, and the rotational force of the first shafts 112 and 152 is transmitted to the rotation shafts 113-1 and 153-1 of the first moving means 113 and 153. The first moving means 113 and 153 rotate.

The first spur gears 116 and 156 are provided at the rear ends of the first shafts 112 and 152, and the first spur gears 115 and 155 are rotatably provided in parallel with the upper portions of the first shafts 112 and 152. The second spur gears 117 and 157 which are engaged with and rotate with 116 and 156 are provided. Therefore, when the first shafts 112 and 152 are rotated, the first-first shafts 115 and 155 are also rotated by the rotational force transmitted by the first spur gears 116 and 156 and the second spur gears 117 and 157.

The first shaft 112 of the first unit body 110 disposed at the foremost of the first unit bodies 110 and 150 configured as described above and the first shaft of the first unit body 150 disposed at the rear of the forefront ( 152 is connected to the first connecting shaft 130. In addition, the first-first shaft 115 of the first unit body 110 disposed at the foremost front and the first-first shaft 155 of the first unit body 150 disposed at the rear of the forefront are first-first-first. It is connected to the connecting shaft 135.

 As shown in FIG. 5, the first connecting shaft 130 and the first-first connecting shaft 135 are preferably flexible shafts made of an elastic material such as rubber that enables bending and twisting.

In addition, it is preferable that the first frame 111 of the first unit body 110 disposed at the foremost and the first frame 151 of the first unit body 150 disposed at the rear of the forefront be hingedly connected. .

It is configured as described above, the first unit body 110 disposed at the forefront is a structure capable of a head-up (head-up) to be lifted to the top can be higher than the obstacle higher than the robot.

In addition, according to the shape of the ground, the frontmost first frame 111 may rotate from the rear first frame 151 in a direction perpendicular to the running direction of the robot, wherein the first connecting shaft 130 and the first connection shaft 130 1-1 connecting shaft 135 is made of a flexible shaft can be bent or twisted while transmitting the rotational force, it is possible to overcome the obstacle manually without the need for additional driving means.

Furthermore, since it can be as close as possible to the ground as compared to the system having a rigid structure of the connecting shaft, it is possible to efficiently travel by utilizing the ground reaction force to the maximum.

On the other hand, the head module 100 is preferably provided with an image input device (not shown) and an image transmission device (not shown) for transmitting the image data input by the image input device to the outside.

In particular, the image input apparatus may be a camera for photographing a situation around the system, and is preferably installed in the first unit body 110 disposed at the forefront in view of ease of photographing.

In this way, the image captured by the image input apparatus is transmitted to the user by the image transmitting apparatus, so that the situation around the system can be grasped remotely.

Next, as illustrated in FIGS. 6 and 7, the body module 200 includes a plurality of second unit bodies 210 and 250. In the present embodiment, the body module 200 includes two second unit bodies 210 and 250. By adjusting the number of the second unit bodies 210 and 250 of the body module 200, the number may be increased or decreased by the required length, so that the overall length of the body module 200 may be adjusted according to the environment.

Each of the second unit bodies 210 and 250 preferably includes second frames 211 and 251, second shafts 212 and 252, second moving means 213 and 253 and second rotational power transmitting means 214 and 254.

The second frames 211 and 251 form a skeleton of the second unit bodies 210 and 250. In the present embodiment, the second frames 211 and 251 are substantially horizontally long hexagonal shapes.

The second shafts 212 and 252 are rotatably provided in the second frames 211 and 251 and are composed of two left and right sides arranged in parallel.

The second moving means 213 and 253 are rotatably provided at both sides of the second frames 211 and 251. Detailed structures of the second moving means 213 and 253 will be described later.

The second rotating power transmitting means 214, 254 transmits the rotational force of the second shaft 212, 252 to the second moving means 213, 253, and the second rotating power transmitting means 214, 254 on the left side has the rotating force of the second shaft 212, 252 on the left side. To the second moving means 213 and 253 on the left side, and the second power transmission means 214 and 254 on the right side transmit the rotational force of the second shafts 212 and 252 on the right side to the second moving means 213 and 253 on the right side.

In the present embodiment, the second rotational power transmitting means 214, 254 is preferably a cross shaft gear as shown in FIG. That is, 2-1 bevel gears 214a and 254a are installed in the second shafts 212 and 252, and 2-1 bevel gears 214a and 254a in the rotation shafts 213a and 253a of the second moving means 213 and 253a. The second and second bevel gears 214b and 254b which rotate in mesh with each other are installed, and the rotational force of the second shafts 212 and 252 is transmitted to the rotation shafts 213a and 253a of the second moving means 213 and 253, thereby causing the second movement. The means 213, 253 rotate.

The second shaft 212 of the second unit body 210 disposed in the front of the second unit body 210,250 configured as described above and the second shaft 252 of the second unit body 250 disposed in the rear. Is connected to the second connecting shaft (230). The second connecting shaft 230 and the second-first connecting shaft 135 are preferably flexible shafts made of an elastic material such as rubber that enables bending and twisting.

Next, as illustrated in FIGS. 8 and 9, the tail module 300 includes at least one third unit body 310. In this embodiment, the tail module 300 includes one third unit body 310. And, depending on the embodiment may be composed of a plurality.

The third unit body 310 preferably includes a third frame 311, a third shaft 312, a third moving means 313, and a third power transmission means (not shown).

The third frame 311 forms the skeleton of the third unit body 310, and in the present embodiment, has a hexagon shape that is approximately horizontally long.

The third shaft 312 is rotatably provided in the third frame 311 and includes two left and right sides arranged in parallel.

The third moving means 313 is rotatably provided at both sides of the third frame 311. The detailed structure of the third moving means 313 will be described later.

The third rotational power transmission means transmits the rotational force of the third shaft 312 to the third movement means 313, and the third rotational power transmission means on the left side transmits the rotational force of the third shaft 312 on the left side to the third movement on the left side. The third rotating power transmitting means on the right side transmits the rotational force of the third shaft 312 on the right side to the third moving means 313 on the right side.

In the present embodiment, it is preferable that the third rotational power transmission means is a cross shaft gear, and the detailed description thereof will be omitted since it is the same as the first rotational power transmission means 114 and 154 and the second rotational power transmission means 214 and 254.

When the third unit body 310 configured as described above is configured in plural numbers according to the embodiment, the third shaft 312 of the third unit body 310 disposed at the front side and the third unit body disposed at the rear side are provided. It is preferable that the third shaft of is connected to interlock.

Meanwhile, the tail module 300 may further include at least one third-1 unit body 350. In this embodiment, one third-1 unit body 350 is provided.

The 3-1 unit body 350 includes a 3-1 frame 351 and a 3-1 moving means 353 rotatably provided on both sides of the 3-1 frame 351 to roll with the driven. do. The detailed structure of the 3-1 moving means 353 will be described later. The third unit body 350 configured as described above is disposed at the rear of the third unit body 310.

A driving force generating means 370 for generating a driving force is provided between the 3-1 unit body 350 and the third unit body 310, and the rotation axis of the driving force generating means 370 is the third unit body 310. It is connected to transmit a driving force to the third shaft 312 provided in. In this embodiment, the driving force generating means 370 is composed of two, it is preferable to generate the driving force on the third shaft 312 of the left and right, respectively.

Tail module 300 is configured as described above is equipped with a remote control device (remote control device), etc. to remotely control the driving of the driving force generating means 370, the third unit body ( In the 310, a battery 390 is provided to provide electrical energy to the driving force generating means 370.

The head module 100, the body module 200, and the tail module 300 configured as described above are connected to the head-body connecting shaft 400 and the body-tail connecting shaft 500, respectively.

That is, as shown in FIG. 1, the first shaft 152 of the first unit body 150 disposed behind the head module 100 and the second unit body disposed in front of the body module 200 ( The second shaft 212 of the 210 is connected to the head-body connecting shaft 400.

In addition, the second shaft 252 of the second unit body 250 disposed behind the body module 200 and the third shaft 312 of the third unit body 310 disposed in front of the tail module 300. ) Is connected to the body-tail connecting shaft 500.

The head-body coupling shaft 400 and the body-tail coupling shaft 500 are preferably flexible shafts made of an elastic material such as rubber that enables bending and twisting as shown in FIG. 5.

As such, as the connecting shafts 400 and 500 connecting the respective modules are made of a flexible shaft made of an elastic material, power can be transmitted even in a state in which some moving means cannot move due to rough obstacles.

Description of each moving means (113,153,213,253,313)

As shown in FIG. 10, the first moving means 113, 153, the second moving means 213, 253, and the third moving means 313 include a boss 113a, a main spoke 113b, and a secondary spoke 113c. It is desirable to. In FIG. 10, the first moving means 113 and 153 are shown as examples, and the first moving means 113 and 153 will be described as an example.

The boss 113a refers to the center of rotation.

The main spokes 113b are formed in plural and are arranged radially around the boss 113a, and are provided to be inclined such that the distance increases as the distance from the boss 113a increases. In the present embodiment, three main spokes 113b are arranged radially about the boss 113a.

The secondary spoke 113c is provided so as to extend in a direction perpendicular to the boss 113a from one point on the main spoke 113b. In the present embodiment, the secondary spoke 113c extends from the middle point on the main spoke 113b, and extends in the direction of the unit body from the main spoke 113b, and the end of the secondary spoke 113c is the end of the main spoke 113b. Is provided in the same position as.

The main spoke 113b and the sub spoke 113c configured as described above form a “y” shape.

The first moving means (113,153), the second moving means (213, 253) and the third moving means (313) configured as described above, as shown in Figure 1, the other moving means adjacent to any one of the moving means is a unit It is comprised so that the distance from the body to the point where the main spoke 113b is mounted may differ, respectively. In other words, the bosses 113a on which the main spokes 113b are mounted are configured to have different lengths.

In this embodiment, the first moving means 113 of the first unit body 110 disposed in the foremost, the second moving means 213 of the second unit body 210 disposed in the third, and the fifth The bosses 113a, 213a, and 313a of the third moving means 313 of the third unit body 300 are configured to have the same length, that is, the main spokes 113b are mounted from the unit bodies 110, 210, and 310. The distance of the points is configured to be the same.

In addition, the first moving means 153 of the first unit body 150 disposed second, and the bosses 153a and 253a of the second moving means 253 of the second unit body 250 arranged fourth. The length is configured to be the same, that is, the distance from the unit body (110, 210, 310) to the point where the main spoke (113b) is mounted is configured to be the same.

In particular, the boss of the first moving means 153 and the second moving means 253 is greater than the length of the boss 113a of the first moving means 113, the second moving means 213, and the third moving means 313. The length of the 113a is formed long, and the point where the main spoke 113b of each moving means is mounted is alternately arrange | positioned.

In this way, the points on which the main spokes 113b of the respective moving means are mounted are alternately arranged, and the main spokes 113b are arranged so as not to touch the neighboring main spokes 113b while increasing the length of the main spokes 113b. The longer the length of 113b), the easier it is to overcome obstacles and the like.

In addition, the main spoke 113b and the secondary spoke 113c are constructed by adjusting the joints of the legs according to the width of the terrain where the centipede crawls to adjust the width of the legs on both sides. You can overcome it and quickly overcome the rough terrain.

Description of 3-1 Moving Means 353

The third-first moving means 353 of the third-first unit body 350 disposed at the rear is different from the moving means 113, 153, 213, 253 and 313 described above. That is, the moving means 113, 153, 213, 253, 313 is actively driven by the rotation of the shafts 112, 152, 212, 252, 312, to which the moving means 113, 153, 213, 253, and 313 are connected, but the 3-1 moving means 353 is driven not by being driven. Rolling

As shown in FIGS. 11 and 12, the third-first moving means 353 includes a boss 113a, a wheel part 353b, and a leg part 353c.

The boss 113a refers to the center of rotation, and is fitted to the rotation shaft for rotating the 3-1 moving means 353.

The wheel part 353b is comprised in multiple numbers, and is arrange | positioned radially centering on the boss 113a. In this embodiment, the wheel part 353b is composed of three and is disposed radially about the boss 113a.

The leg portions 353c extend from the wheel portions 353b in the circumferential direction in any one direction, and are spaced apart from each other. In this embodiment, the leg portion 353c is arranged to extend clockwise from the wheel portion 353b.

The 3-1 moving means 353 configured as described above is in the form of a wheel-leg capable of fast running.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is to be understood that various changes and modifications may be made without departing from the scope of the appended claims.

100: head module 110,150: the first unit body
111,151: first frame 112,152: first shaft
113,153: first moving means 113-1,153-1: rotating shaft
113a: Boss 113b: main spoke
113c: secondary spoke 114,154: first power transmission means
115,155: 1-1 shaft 116,156: 1st spur gear
117,157: 2nd spur gear 130: 1st connecting shaft
135: 1-1 connection shaft 200: body module
210,250: second unit body 211,251: second frame
212,252: second shaft 213,253: second moving means
214,254: second power transmission means 230: second connection shaft
300: tail module 310: third unit body
311: third frame 312: third shaft
313: third movement means 314: third power transmission means
350: 3-1 unit body 351: 3-1 frame
353: 3-1 moving means 353a: boss
353b: wheel part 353c: leg part
400: head-body connecting shaft
500: body-tail connection shaft

Claims (13)

First frames 111 and 151, first shafts 112 and 152 rotatably provided in the first frames 111 and 151, and first shafts 112 and 152 rotatably provided on both sides of the first frames 111 and 151. It consists of a plurality of first unit body (110,150) including a first moving means (113,153) for receiving the rotational force of the rotation, the first shaft (112, 152) of each of the first unit body (110,150) is a first A head module 100 connected to the connecting shaft 130;
Second frames 211 and 251, second shafts 212 and 252 rotatably provided in the second frames 211 and 251, and second shafts 212 and 252 rotatably provided on both sides of the second frames 211 and 251. It is composed of a plurality of second unit body (210,250) including a second moving means (213,253) for receiving the rotational force of the rotation, the second shaft (212, 252) of each of the second unit body (210,250) A body module 200 connected to the two connecting shafts 230;
A third frame 311, a third shaft 312 rotatably provided in the third frame 311, and a third shaft 312 rotatably provided at both sides of the third frame 311. It is composed of at least one third unit body 310 including a third moving means (313) for receiving the rotational force of the rotation, the third shaft 312 of each of the third unit body (310) And a tail module 300 connected to interlock with each other.
The first shaft 152 of the head module 100 and the second shaft 212 of the body module 200 are connected to the head-body connecting shaft 400,
The second shaft 252 of the body module 200 and the third shaft 312 of the tail module 300 are connected to the body-tail connecting shaft 500,
The first moving means (113, 153), the second moving means (213, 253) and the third moving means (313),
A second boss 113a, a plurality of main spokes 113b disposed radially about the second boss 113a, and a point on the main spokes 113b perpendicular to the second boss 113a. A robot that mimics a centipede, wherein the main spoke 113b and the sub spoke 113c form a 'y' shape, including a sub spoke 113c extending in one direction. .
The method of claim 1,
The first connecting shaft 130, the second connecting shaft 230, the head-body connecting shaft 400 and the body-tail connecting shaft 500,
A robot that mimics a centipede, which is a flexible shaft that is an elastic material that enables bending and twisting.
3. The method according to claim 1 or 2,
The rotational force of the first shaft (112, 152) is transmitted to the first moving means (113, 153), the rotational force of the second shaft (212, 252) to the second moving means (213, 253), the third shaft (312) Each of the rotational force transmission means for transmitting the rotational force of the force to the third movement means (313) is a cross-axis gear, the robot mimics the centipede.
3. The method according to claim 1 or 2,
The first unit body (110, 150),
First spur gears 116 and 156 installed on the first shafts 112 and 152,
And first-first shafts 115 and 155 disposed on the first shafts 112 and 152 and provided with second spur gears 117 and 157 which rotate in engagement with the first spur gears 116 and 156.
The first frame 111 of the first unit body 110 disposed at the foremost and the first frame 151 of the first unit body 150 disposed at the rear of the forefront are hingedly connected to each other. there is,
The robot mimics a centipede, characterized in that the head-up that the first unit body (110,150) disposed in the forefront is lifted upward.
3. The method according to claim 1 or 2,
The head module 100,
And an image input device and an image transmission device for transmitting the image data input by the image input device to the outside.
3. The method according to claim 1 or 2,
The tail module 300,
A driving force generating means 370 for generating a driving force on the third shaft 312;
A remote control device for remotely controlling the driving of the driving force generating means 370;
The robot that mimics the centipede, characterized in that a battery 390 for providing electrical energy is installed in the driving force generating means (370).
The method according to claim 6,
The first shafts 112 and 152 are composed of two left and right sides, and rotational force is transmitted to the first moving means 113 and 153 on both sides, respectively.
The second shafts 212 and 252 are composed of two left and right sides, and rotational forces are transmitted to the second moving means 213 and 253 on both sides, respectively.
As the third shaft 312 is composed of two left and right, as the rotational force is transmitted to the third moving means 313 on each side,
The driving force generating means (370) is composed of two robots that mimic a centipede, characterized in that for generating a driving force to the third shaft (312) of the left and right, respectively.
The method according to claim 6,
The tail module 300,
At least one 3-1 unit including a 3-1 frame 351 and a 3-1 moving means 353 rotatably provided on both sides of the 3-1 frame 351 to be driven. Further comprising a body 350,
The third unit body 350 is disposed at the rear of the third unit body 310,
The robot mimics a centipede, characterized in that the driving force generating means (370) is disposed between the 3-1 unit body (350) and the third unit body (310).
9. The method of claim 8,
The third-1 moving means 353,
The first boss 353a,
A plurality of wheel parts 353b radially disposed around the first boss 353a;
A robot that mimics a centipede, which extends from the wheel portion 353b in a circumferential direction in one direction, and is a wheel-leg composed of leg portions 353c spaced apart from each other.
delete The method of claim 1,
The main spokes 113b are provided to be inclined so that the interval increases as the distance from the second boss 113a increases.
The secondary spoke (113c) is a robot that mimics a centipede, characterized in that extending in a direction perpendicular to the second boss (113a).
The method of claim 1,
In the first moving means (113, 153), the second moving means (213, 253) and the third moving means (313),
The other means of transportation adjacent to one of the means of transportation,
The robot mimics the centipede, characterized in that the distance from the unit body (110,150,210,250,310) to the point where the main spoke (113b) is mounted, respectively different.
13. The method of claim 12,
The bosses 113a, 213a, and 313a on which the main spokes 113b of the moving means 113, 213, and 313 are arranged in odd numbers are configured to have the same length.
Bosses 153a and 253a of the bosses 153a and 253a on which the main spokes 113b of the movable means 153 and 253 are evenly arranged are equal to each other. ) Is formed to be longer than the length of the boss (113a, 213a, 313a) of the moving means (113, 213, 313) arranged in an odd number,
A robot that mimics a centipede, characterized in that the points at which the main spokes 113b are mounted are alternately arranged from the unit bodies 110, 150, 210, 250, and 310.

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